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APM: added forwarding of unknown MAVLink types

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This commit is contained in:
Andrew Tridgell 2012-08-31 12:09:24 +10:00
parent f97104b435
commit 9b2ad55773
1 changed files with 12 additions and 0 deletions
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12
ArduPlane/GCS_Mavlink.pde
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@ -1937,6 +1937,18 @@ mission_failed:
break; break;
} }
default:
// forward unknown messages to the other link if there is one
if ((chan == MAVLINK_COMM_1 && gcs0.initialised) ||
(chan == MAVLINK_COMM_0 && gcs3.initialised)) {
mavlink_channel_t out_chan = (mavlink_channel_t)(((uint8_t)chan)^1);
// only forward if it would fit in our transmit buffer
if (comm_get_txspace(out_chan) > msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
_mavlink_resend_uart(out_chan, msg);
}
}
break;
} // end switch } // end switch
} // end handle mavlink } // end handle mavlink